In normal English you would use "Stomach rumble", though "growl" is also possible. You can also use "rumble" as a verb and say "my stomach is rumbling".
There seems to be some difference in dialect (common for such things), and "rumble" is more common in British English, whereas "growl" is more American. Also "rumble" is a more friendly sounding word, and would be more common when talking to children, but "growl" would be more appropriate for writing for adults.
There are a couple of medical terms (peristaltic sound, borborygmus) but only doctors will understand those, so don't use them (even though the second is an excellent word to say).